Design And Analysis Of Spraying Manipulator For Plastic Toys

At present, the automation level of spraying is still very low, because spraying plastic toys is a complex work. Domestic spraying plastic toys are basically completed by hand, not only the high cost of labor, but also harmful to the operator. Therefore, the research and development of automatic spraying machine for plastic toys is of important significance, and the design of spraying manipulator is the key among them. There is a lot of studies for the large spraying manipulators at home and abroad, have many mature products, but still fewer studies aimed at the characteristic of spraying manipulator for plastic toys, the degree of commercialization is low. This paper analyzed and designed the structure of Spraying Manipulator, according to spraying characteristics of plastic toys. A kind of5-DOF series connected joint Spraying Manipulator for plastic toys was invented. Simulation and experimental results show that the manipulator has good performance for spraying plastic toys. The main research contents as follows:First, analyse of the overseas and domestic research status of spraying manipulator, counted on the structural design shortage, the article put forward basic principles of Spraying Manipulator. On this basis, a kind of5-DOF series connected joint Spraying Manipulator for plastic toys was invented, analyse the characteristic of manipulator, according to the research of toy production enterprises. Based on the work space, analyzed the structure parameters of the manipulator make use of Computer Aided Technologies. Then an optimization model was established, and calculated, get the original optimized result. From the perspective of practical considerations, come up with the structural concept and the work process, and control programs of the spraying machine. Then, some important parts of the manipulator were designed concretely, such as:the manipulator base, mobile joint arms and wrist.Second, the manipulator’s kinematics model was established by means of the D-H homogeneous coordinate transformation in the Cartesian coordinates, and has been solved problems of positive and inverse kinematics. Use3D entity modeling software Pro/Engineer, established the entities prototype model of the manipulator, and use Pro/Mechanism modules conduct kinematic simulation verification, according to manipulator’s specific structural design parameters. So that the whole motor process more visualize. The result of simulation shows that the kinematic equation solution is completely correctThird, base on the Monte Carlo simulation method, and through the MATLAB programming, gives numerical solutions paint and analysis of manipulator’s work space, while come up with the relationship between work space and work piece of3D model envelop graphical method analysis.